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An improved kinematic calibration method for serial manipulators based on POE formula
Chang CG(畅晨光)1,2,3; Liu JG(刘金国)1; Ni ZY(倪智宇)1; Qi RL(祁若龙)1
作者部门空间自动化技术研究室
关键词Kinematic Calibration Identification Product Of Exponentials (Poe) Measurement Error
发表期刊Robotica
ISSN0263-5747
2018
卷号36期号:8页码:1244-1262
收录类别SCI ; EI
EI收录号20182105224089
WOS记录号WOS:000437807400007
产权排序1
资助机构Research Fund of China Manned Space Engineering (050102), the Key Research Program of the Chinese Academy of Sciences (Y4A3210301), the National Science Foundation of China (51575412, 51775541, and 61128008), and the StateKey Laboratory of Robotics Foundation
摘要

Existing measurement equipments easily determine position with high precision. However, they evaluate orientation with low precision. It is necessary to minimize the effect of measurement error on identification accuracy. In this study, a method for kinematic calibration based on the product of exponentials (POE) is presented to improve the absolute positioning accuracy of a sliding manipulator. An error model with uniform and generic modeling rules is established in which the tool frame is selected as the reference frame. Furthermore, the redundant parameters of the error model are removed. Subsequently, the actual kinematic parameters are identified by using the least square method. Finally, the process of the improved method is discussed. Kinematic calibration simulations of a sliding manipulator are implemented. The results indicate that the proposed method significantly improves the precision of the sliding manipulator. The improved POE kinematic calibration method offers convenience, efficiency, and high precision. The proposed method can be applied to all types of serial robots with n-DOF

语种英语
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21866
专题空间自动化技术研究室
通讯作者Liu JG(刘金国)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China;
2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, P.R. China;
3.Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, P.R. China
推荐引用方式
GB/T 7714
Chang CG,Liu JG,Ni ZY,et al. An improved kinematic calibration method for serial manipulators based on POE formula[J]. Robotica,2018,36(8):1244-1262.
APA Chang CG,Liu JG,Ni ZY,&Qi RL.(2018).An improved kinematic calibration method for serial manipulators based on POE formula.Robotica,36(8),1244-1262.
MLA Chang CG,et al."An improved kinematic calibration method for serial manipulators based on POE formula".Robotica 36.8(2018):1244-1262.
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